FORTERC_head

FORTERC_head is a ROS driver for the FORTE-RC platform, with the purpose to control its head. It deals with the control of both yaw (azimuth) and pitch (elevation) using a Micro Maestro 6-Channel USB Servo Controller. Yaw rotation is powered by HS-785HB servo, and pitch rotation is powered by DF 15RMG servo. FORTERC_head is a simple adaptation of the ros_pololu_servo.

Quick Start

Turn ON FORTE-RC and connect to its internal CPU (take a look here to know how to do so). Once FORTE-RC starts, simply run the script start.sh.

To control the head simply publish a command to each joint you want to control:

rostopic pub /pololu/command ros_pololu_servo/MotorCommand "joint_name: ' '
position: 0.0
speed: 0.0
acceleration: 0.0"

For example, to control the head's yaw (azimuth) to 90º (1.57 rad) as it follows:

rostopic pub /pololu/command ros_pololu_servo/MotorCommand "joint_name: 'neck_yaw_joint'
position: 1.57
speed: 0.005
acceleration: 0.005"

To understand rotations, please read the Micro Maestro 6-Channel USB Servo Controller documentation. It is noteworthy that the motors' angular motion is limited. While the yaw can easily move 360º on each direction, the pitch is limited between -10º and 10º.

It's suggested to use slow velocities and accelerations.